init

unitree_SDK/include/dds/ddsrt/rusage.h

@@ -0,0 +1,86 @@
+/*
+ * Copyright(c) 2006 to 2022 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#ifndef DDSRT_RUSAGE_H
+#define DDSRT_RUSAGE_H
+
+
+#include <stddef.h>
+
+#include "dds/config.h"
+#include "dds/ddsrt/time.h"
+#include "dds/ddsrt/retcode.h"
+#include "dds/ddsrt/threads.h"
+
+#if DDSRT_HAVE_RUSAGE
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+typedef struct {
+  dds_time_t utime; /* User CPU time used. */
+  dds_time_t stime; /* System CPU time used. */
+  size_t maxrss; /* Maximum resident set size in bytes. */
+  size_t idrss; /* Integral unshared data size. Not maintained on (at least)
+                   Linux and Windows. */
+  size_t nvcsw; /* Voluntary context switches. Not maintained on Windows. */
+  size_t nivcsw; /* Involuntary context switches. Not maintained on Windows. */
+} ddsrt_rusage_t;
+
+enum ddsrt_getrusage_who {
+  DDSRT_RUSAGE_SELF,
+  DDSRT_RUSAGE_THREAD
+};
+
+/**
+ * @brief Get resource usage for the current thread or process.
+ *
+ * @param[in]  who    DDSRT_RUSAGE_SELF or DDSRT_RUSAGE_THREAD.
+ * @param[in]  usage  Structure where resource usage is returned.
+ *
+ * @returns A dds_return_t indicating success or failure.
+ *
+ * @retval DDS_RETCODE_OK
+ *             Resource usage successfully returned in @usage.
+ * @retval DDS_RETCODE_OUT_OF_RESOURCES
+ *             There were not enough resources to get resource usage.
+ * @retval DDS_RETCODE_ERROR
+ *             An unidentified error occurred.
+ */
+DDS_EXPORT dds_return_t ddsrt_getrusage(enum ddsrt_getrusage_who who, ddsrt_rusage_t *usage);
+
+#if DDSRT_HAVE_THREAD_LIST
+/**
+ * @brief Get resource usage for some thread.
+ *
+ * @param[in]  tid    id of the thread of to get the resource usage for
+ * @param[in]  usage  Structure where resource usage is returned.
+ *
+ * @returns A dds_return_t indicating success or failure.
+ *
+ * @retval DDS_RETCODE_OK
+ *             Resource usage successfully returned in @usage.
+ * @retval DDS_RETCODE_OUT_OF_RESOURCES
+ *             There were not enough resources to get resource usage.
+ * @retval DDS_RETCODE_ERROR
+ *             An unidentified error occurred.
+ */
+DDS_EXPORT dds_return_t ddsrt_getrusage_anythread (ddsrt_thread_list_id_t tid, ddsrt_rusage_t * __restrict usage);
+#endif
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif // DDSRT_HAVE_RUSAGE
+
+#endif // DDSRT_RUSAGE_H